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<div class="title">correspondence_rejection_var_trimmed.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_rejection.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  {</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html">   64</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html">CorrespondenceRejectorVarTrimmed</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">CorrespondenceRejector::input_correspondences_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">CorrespondenceRejector::rejection_name_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">CorrespondenceRejector::getClassName</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;CorrespondenceRejectorVarTrimmed&gt; Ptr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const CorrespondenceRejectorVarTrimmed&gt; ConstPtr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a8e96a7a238246da80da7a81e86cf302e">   75</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a8e96a7a238246da80da7a81e86cf302e">CorrespondenceRejectorVarTrimmed</a> () : </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          trimmed_distance_ (0), </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;          factor_ (),</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          min_ratio_ (0.05),</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          max_ratio_ (0.95),</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          lambda_ (0.95),</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          data_container_ ()</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          rejection_name_ = <span class="stringliteral">&quot;CorrespondenceRejectorVarTrimmed&quot;</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#aa36a022f0a8c6c1d4acb7a0fdb4ad7ff">   91</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#aa36a022f0a8c6c1d4acb7a0fdb4ad7ff">getRemainingCorrespondences</a> (<span class="keyword">const</span> pcl::Correspondences&amp; original_correspondences, </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                                     pcl::Correspondences&amp; remaining_correspondences);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a885e0228055dd4b03c31876b359d07fc">   96</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a885e0228055dd4b03c31876b359d07fc">getTrimmedDistance</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> trimmed_distance_; };</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a4ca7109dbc55e2f756926042848845f0">  103</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a4ca7109dbc55e2f756926042848845f0">setInputSource</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          <span class="keywordflow">if</span> (!data_container_)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;            data_container_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_data_container.html">DataContainer&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;          boost::static_pointer_cast&lt;DataContainer&lt;PointT&gt; &gt; (data_container_)-&gt;setInputSource (cloud);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a7435ede8b9d554f54ca7a7d804e87b6c">  115</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a7435ede8b9d554f54ca7a7d804e87b6c">setInputCloud</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          <span class="keywordflow">if</span> (!data_container_)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;            data_container_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_data_container.html">DataContainer&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          boost::static_pointer_cast&lt;DataContainer&lt;PointT&gt; &gt; (data_container_)-&gt;setInputSource (cloud);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a768519f1c0609230a67a511b8ca7dfa2">  128</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a768519f1c0609230a67a511b8ca7dfa2">setInputTarget</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;target)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          <span class="keywordflow">if</span> (!data_container_)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;            data_container_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_data_container.html">DataContainer&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          boost::static_pointer_cast&lt;DataContainer&lt;PointT&gt; &gt; (data_container_)-&gt;setInputTarget (target);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ad259c998cfa9e013b0a4cfbae161bd3a">  139</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ad259c998cfa9e013b0a4cfbae161bd3a">requiresSourcePoints</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="keyword">        </span>{ <span class="keywordflow">return</span> (<span class="keyword">true</span>); }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a34d1652ebbffbde826f3ded38879dff5">  144</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a34d1652ebbffbde826f3ded38879dff5">setSourcePoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        { </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          PointCloud&lt;PointXYZ&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZ&gt;</a>);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;          fromPCLPointCloud2 (*cloud2, *cloud);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          setInputSource&lt;PointXYZ&gt; (cloud);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a630a841545363201467e938895b34ae5">  153</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a630a841545363201467e938895b34ae5">requiresTargetPoints</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="keyword">        </span>{ <span class="keywordflow">return</span> (<span class="keyword">true</span>); }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a3a2080e03a6d5175c421d7e3de6d7be4">  158</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a3a2080e03a6d5175c421d7e3de6d7be4">setTargetPoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        { </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;          PointCloud&lt;PointXYZ&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZ&gt;</a>);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;          fromPCLPointCloud2 (*cloud2, *cloud);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          setInputTarget&lt;PointXYZ&gt; (cloud);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a11ca79fdc9c6b7a0d0ec76c8cb0b9e78">  173</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a11ca79fdc9c6b7a0d0ec76c8cb0b9e78">setSearchMethodTarget</a> (<span class="keyword">const</span> boost::shared_ptr&lt;<a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointT&gt;</a> &gt; &amp;tree, </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                               <span class="keywordtype">bool</span> force_no_recompute = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        { </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          boost::static_pointer_cast&lt; DataContainer&lt;PointT&gt; &gt; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;            (data_container_)-&gt;setSearchMethodTarget (tree, force_no_recompute );</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#af81b865c61d139559b6430442248489e">  182</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#af81b865c61d139559b6430442248489e">getTrimFactor</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> factor_; }</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a8b8dc2aa5d21c45261b5c34459710bd7">  188</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a8b8dc2aa5d21c45261b5c34459710bd7">setMinRatio</a> (<span class="keywordtype">double</span> ratio) { min_ratio_ = ratio; }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ace1fc4f60f4ea91284f5521c96bfaddb">  193</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ace1fc4f60f4ea91284f5521c96bfaddb">getMinRatio</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> min_ratio_; }</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a2e11ee722ae8bf9209287bff226b190d">  199</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a2e11ee722ae8bf9209287bff226b190d">setMaxRatio</a> (<span class="keywordtype">double</span> ratio) { max_ratio_ = ratio; }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a58a15db44f0c237416524d73226b55cf">  204</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a58a15db44f0c237416524d73226b55cf">getMaxRatio</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> max_ratio_; }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a52e4fa13fcbe9baa5150d26d885ef01d">  212</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a52e4fa13fcbe9baa5150d26d885ef01d">applyRejection</a> (pcl::Correspondences &amp;correspondences)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          getRemainingCorrespondences (*input_correspondences_, correspondences);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        }</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a3dd49ee1682eb902c18ad1561ce3effe">  219</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a3dd49ee1682eb902c18ad1561ce3effe">trimmed_distance_</a>;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ae1c3c2aadf9aa1340170437a12984992">  225</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ae1c3c2aadf9aa1340170437a12984992">factor_</a>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ad2e752e2972807ab36185a884fb6b82b">  229</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ad2e752e2972807ab36185a884fb6b82b">min_ratio_</a>;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#af7fa2ade8ca0c16f3144f3400e512960">  233</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#af7fa2ade8ca0c16f3144f3400e512960">max_ratio_</a>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#aa5312fa7f146e322b2a7e6be5f9f37d2">  237</a></span>&#160;        <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#aa5312fa7f146e322b2a7e6be5f9f37d2">lambda_</a>;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;DataContainerInterface&gt; DataContainerPtr;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a9289d41d203b3ea83e411012019e3814">  242</a></span>&#160;        DataContainerPtr <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a9289d41d203b3ea83e411012019e3814">data_container_</a>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a0981c8b9b5e0c483f4822293cf70df1e">  248</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a0981c8b9b5e0c483f4822293cf70df1e">optimizeInlierRatio</a> (std::vector &lt;double&gt; &amp;dists);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    };</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  }</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;}</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/correspondence_rejection_var_trimmed.hpp&gt;</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_REGISTRATION_CORRESPONDENCE_REJECTION_VAR_TRIMMED_H_ </span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a74d516ca516f7421fd86a53dec1a57b1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">pcl::registration::CorrespondenceRejector::input_correspondences_</a></div><div class="ttdeci">CorrespondencesConstPtr input_correspondences_</div><div class="ttdoc">The input correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_aa5996af869d7aaa6b8b8dc156038dd3f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">pcl::registration::CorrespondenceRejector::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_ab97eb70d3661574301fe1f978576726d"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">pcl::registration::CorrespondenceRejector::rejection_name_</a></div><div class="ttdeci">std::string rejection_name_</div><div class="ttdoc">The name of the rejection method.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html">pcl::registration::CorrespondenceRejectorVarTrimmed</a></div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a0981c8b9b5e0c483f4822293cf70df1e"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a0981c8b9b5e0c483f4822293cf70df1e">pcl::registration::CorrespondenceRejectorVarTrimmed::optimizeInlierRatio</a></div><div class="ttdeci">float optimizeInlierRatio(std::vector&lt; double &gt; &amp;dists)</div><div class="ttdoc">finds the optimal inlier ratio. This is based on the paper 'Outlier Robust ICP for minimizing Fractio...</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a11ca79fdc9c6b7a0d0ec76c8cb0b9e78"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a11ca79fdc9c6b7a0d0ec76c8cb0b9e78">pcl::registration::CorrespondenceRejectorVarTrimmed::setSearchMethodTarget</a></div><div class="ttdeci">void setSearchMethodTarget(const boost::shared_ptr&lt; pcl::search::KdTree&lt; PointT &gt; &gt; &amp;tree, bool force_no_recompute=false)</div><div class="ttdoc">Provide a pointer to the search object used to find correspondences in the target cloud.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a2e11ee722ae8bf9209287bff226b190d"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a2e11ee722ae8bf9209287bff226b190d">pcl::registration::CorrespondenceRejectorVarTrimmed::setMaxRatio</a></div><div class="ttdeci">void setMaxRatio(double ratio)</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:199</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a34d1652ebbffbde826f3ded38879dff5"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a34d1652ebbffbde826f3ded38879dff5">pcl::registration::CorrespondenceRejectorVarTrimmed::setSourcePoints</a></div><div class="ttdeci">void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2)</div><div class="ttdoc">Blob method for setting the source cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:144</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a3a2080e03a6d5175c421d7e3de6d7be4"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a3a2080e03a6d5175c421d7e3de6d7be4">pcl::registration::CorrespondenceRejectorVarTrimmed::setTargetPoints</a></div><div class="ttdeci">void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2)</div><div class="ttdoc">Method for setting the target cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a3dd49ee1682eb902c18ad1561ce3effe"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a3dd49ee1682eb902c18ad1561ce3effe">pcl::registration::CorrespondenceRejectorVarTrimmed::trimmed_distance_</a></div><div class="ttdeci">double trimmed_distance_</div><div class="ttdoc">The inlier distance threshold (based on the computed trim factor) between two correspondent points in...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:219</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a4ca7109dbc55e2f756926042848845f0"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a4ca7109dbc55e2f756926042848845f0">pcl::registration::CorrespondenceRejectorVarTrimmed::setInputSource</a></div><div class="ttdeci">void setInputSource(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;cloud)</div><div class="ttdoc">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a52e4fa13fcbe9baa5150d26d885ef01d"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a52e4fa13fcbe9baa5150d26d885ef01d">pcl::registration::CorrespondenceRejectorVarTrimmed::applyRejection</a></div><div class="ttdeci">void applyRejection(pcl::Correspondences &amp;correspondences)</div><div class="ttdoc">Apply the rejection algorithm.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a58a15db44f0c237416524d73226b55cf"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a58a15db44f0c237416524d73226b55cf">pcl::registration::CorrespondenceRejectorVarTrimmed::getMaxRatio</a></div><div class="ttdeci">double getMaxRatio() const</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:204</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a630a841545363201467e938895b34ae5"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a630a841545363201467e938895b34ae5">pcl::registration::CorrespondenceRejectorVarTrimmed::requiresTargetPoints</a></div><div class="ttdeci">bool requiresTargetPoints() const</div><div class="ttdoc">See if this rejector requires a target cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a7435ede8b9d554f54ca7a7d804e87b6c"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a7435ede8b9d554f54ca7a7d804e87b6c">pcl::registration::CorrespondenceRejectorVarTrimmed::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;cloud)</div><div class="ttdoc">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:115</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a768519f1c0609230a67a511b8ca7dfa2"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a768519f1c0609230a67a511b8ca7dfa2">pcl::registration::CorrespondenceRejectorVarTrimmed::setInputTarget</a></div><div class="ttdeci">void setInputTarget(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;target)</div><div class="ttdoc">Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:128</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a885e0228055dd4b03c31876b359d07fc"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a885e0228055dd4b03c31876b359d07fc">pcl::registration::CorrespondenceRejectorVarTrimmed::getTrimmedDistance</a></div><div class="ttdeci">double getTrimmedDistance() const</div><div class="ttdoc">Get the trimmed distance used for thresholding in correspondence rejection.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:96</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a8b8dc2aa5d21c45261b5c34459710bd7"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a8b8dc2aa5d21c45261b5c34459710bd7">pcl::registration::CorrespondenceRejectorVarTrimmed::setMinRatio</a></div><div class="ttdeci">void setMinRatio(double ratio)</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a8e96a7a238246da80da7a81e86cf302e"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a8e96a7a238246da80da7a81e86cf302e">pcl::registration::CorrespondenceRejectorVarTrimmed::CorrespondenceRejectorVarTrimmed</a></div><div class="ttdeci">CorrespondenceRejectorVarTrimmed()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:75</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_a9289d41d203b3ea83e411012019e3814"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#a9289d41d203b3ea83e411012019e3814">pcl::registration::CorrespondenceRejectorVarTrimmed::data_container_</a></div><div class="ttdeci">DataContainerPtr data_container_</div><div class="ttdoc">A pointer to the DataContainer object containing the input and target point clouds</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_aa36a022f0a8c6c1d4acb7a0fdb4ad7ff"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#aa36a022f0a8c6c1d4acb7a0fdb4ad7ff">pcl::registration::CorrespondenceRejectorVarTrimmed::getRemainingCorrespondences</a></div><div class="ttdeci">void getRemainingCorrespondences(const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</div><div class="ttdoc">Get a list of valid correspondences after rejection from the original set of correspondences.</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_aa5312fa7f146e322b2a7e6be5f9f37d2"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#aa5312fa7f146e322b2a7e6be5f9f37d2">pcl::registration::CorrespondenceRejectorVarTrimmed::lambda_</a></div><div class="ttdeci">double lambda_</div><div class="ttdoc">part of the term that balances the root mean square difference. This is an internal parameter</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:237</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_ace1fc4f60f4ea91284f5521c96bfaddb"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ace1fc4f60f4ea91284f5521c96bfaddb">pcl::registration::CorrespondenceRejectorVarTrimmed::getMinRatio</a></div><div class="ttdeci">double getMinRatio() const</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:193</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_ad259c998cfa9e013b0a4cfbae161bd3a"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ad259c998cfa9e013b0a4cfbae161bd3a">pcl::registration::CorrespondenceRejectorVarTrimmed::requiresSourcePoints</a></div><div class="ttdeci">bool requiresSourcePoints() const</div><div class="ttdoc">See if this rejector requires source points</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:139</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_ad2e752e2972807ab36185a884fb6b82b"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ad2e752e2972807ab36185a884fb6b82b">pcl::registration::CorrespondenceRejectorVarTrimmed::min_ratio_</a></div><div class="ttdeci">double min_ratio_</div><div class="ttdoc">The minimum overlap ratio between the input and target clouds</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_ae1c3c2aadf9aa1340170437a12984992"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#ae1c3c2aadf9aa1340170437a12984992">pcl::registration::CorrespondenceRejectorVarTrimmed::factor_</a></div><div class="ttdeci">double factor_</div><div class="ttdoc">The factor for correspondence rejection. Only factor times the total points sorted based on the corre...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:225</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_af7fa2ade8ca0c16f3144f3400e512960"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#af7fa2ade8ca0c16f3144f3400e512960">pcl::registration::CorrespondenceRejectorVarTrimmed::max_ratio_</a></div><div class="ttdeci">double max_ratio_</div><div class="ttdoc">The maximum overlap ratio between the input and target clouds</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:233</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_var_trimmed_html_af81b865c61d139559b6430442248489e"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_var_trimmed.html#af81b865c61d139559b6430442248489e">pcl::registration::CorrespondenceRejectorVarTrimmed::getTrimFactor</a></div><div class="ttdeci">double getTrimFactor() const</div><div class="ttdoc">Get the computed inlier ratio used for thresholding in correspondence rejection.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_var_trimmed.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_data_container_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_data_container.html">pcl::registration::DataContainer</a></div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
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